雄介 太田 / Dynamixel

Dyanamixel

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MX28.cpp@14:874b672847bc, 2015-08-18 (annotated)

Committer:
yusuke_kyo
Date:
Tue Aug 18 11:43:09 2015 +0000
Revision:
14:874b672847bc
Parent:
11:cb0d11254b22
Child:
12:7affd17fcb66
linear->MX28

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yusuke_kyo 0:10c9fb86002f 1 /* mbed AX-12+ Servo Library
yusuke_kyo 0:10c9fb86002f 2 *
yusuke_kyo 0:10c9fb86002f 3 * Copyright (c) 2010, cstyles (http://mbed.org)
yusuke_kyo 0:10c9fb86002f 4 *
yusuke_kyo 0:10c9fb86002f 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
yusuke_kyo 0:10c9fb86002f 6 * of this software and associated documentation files (the "Software"), to deal
yusuke_kyo 0:10c9fb86002f 7 * in the Software without restriction, including without limitation the rights
yusuke_kyo 0:10c9fb86002f 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
yusuke_kyo 0:10c9fb86002f 9 * copies of the Software, and to permit persons to whom the Software is
yusuke_kyo 0:10c9fb86002f 10 * furnished to do so, subject to the following conditions:
yusuke_kyo 0:10c9fb86002f 11 *
yusuke_kyo 0:10c9fb86002f 12 * The above copyright notice and this permission notice shall be included in
yusuke_kyo 0:10c9fb86002f 13 * all copies or substantial portions of the Software.
yusuke_kyo 0:10c9fb86002f 14 *
yusuke_kyo 0:10c9fb86002f 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
yusuke_kyo 0:10c9fb86002f 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
yusuke_kyo 0:10c9fb86002f 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
yusuke_kyo 0:10c9fb86002f 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
yusuke_kyo 0:10c9fb86002f 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
yusuke_kyo 0:10c9fb86002f 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
yusuke_kyo 0:10c9fb86002f 21 * THE SOFTWARE.
yusuke_kyo 0:10c9fb86002f 22 */
yusuke_kyo 0:10c9fb86002f 23
yusuke_kyo 0:10c9fb86002f 24 #include "MX28.h"
yusuke_kyo 0:10c9fb86002f 25 #include "mbed.h"
yusuke_kyo 0:10c9fb86002f 26 //#include "SerialHalfDuplex.h"
yusuke_kyo 0:10c9fb86002f 27
yusuke_kyo 5:950c4f4f73c6 28 MX28::MX28(PinName tx, PinName rx, int ID, int baudrate)
yusuke_kyo 0:10c9fb86002f 29 : _mx28(tx,rx) {
yusuke_kyo 0:10c9fb86002f 30
yusuke_kyo 5:950c4f4f73c6 31 _mx28.baud(baudrate);
yusuke_kyo 0:10c9fb86002f 32 _ID = ID;
yusuke_kyo 0:10c9fb86002f 33 }
yusuke_kyo 0:10c9fb86002f 34
yusuke_kyo 0:10c9fb86002f 35 // Set the mode of the servo
yusuke_kyo 0:10c9fb86002f 36 // 0 = Positional (0-300 degrees)
yusuke_kyo 0:10c9fb86002f 37 // 1 = Rotational -1 to 1 speed
yusuke_kyo 0:10c9fb86002f 38 int MX28::SetMode(int mode) {
yusuke_kyo 0:10c9fb86002f 39
yusuke_kyo 0:10c9fb86002f 40 if (mode == 1) { // set CR
yusuke_kyo 0:10c9fb86002f 41 SetCWLimit(0);
yusuke_kyo 0:10c9fb86002f 42 SetCCWLimit(0);
yusuke_kyo 0:10c9fb86002f 43 SetCRSpeed(0.0);
yusuke_kyo 0:10c9fb86002f 44 } else {
yusuke_kyo 0:10c9fb86002f 45 SetCWLimit(0);
yusuke_kyo 2:08072af3e9da 46 SetCCWLimit(360);
yusuke_kyo 0:10c9fb86002f 47 SetCRSpeed(0.0);
yusuke_kyo 0:10c9fb86002f 48 }
yusuke_kyo 0:10c9fb86002f 49 return(0);
yusuke_kyo 0:10c9fb86002f 50 }
yusuke_kyo 0:10c9fb86002f 51
yusuke_kyo 0:10c9fb86002f 52
yusuke_kyo 0:10c9fb86002f 53 // if flag[0] is set, were blocking
yusuke_kyo 0:10c9fb86002f 54 // if flag[1] is set, we're registering
yusuke_kyo 0:10c9fb86002f 55 // they are mutually exclusive operations
yusuke_kyo 0:10c9fb86002f 56 int MX28::SetGoal(int degrees, int flags) {
yusuke_kyo 0:10c9fb86002f 57
yusuke_kyo 0:10c9fb86002f 58 char reg_flag = 0;
yusuke_kyo 0:10c9fb86002f 59 char data[2];
yusuke_kyo 0:10c9fb86002f 60
yusuke_kyo 0:10c9fb86002f 61 // set the flag is only the register bit is set in the flag
yusuke_kyo 0:10c9fb86002f 62 if (flags == 0x2) {
yusuke_kyo 0:10c9fb86002f 63 reg_flag = 1;
yusuke_kyo 0:10c9fb86002f 64 }
yusuke_kyo 0:10c9fb86002f 65
yusuke_kyo 0:10c9fb86002f 66 // 4095 / 360 * degrees
yusuke_kyo 0:10c9fb86002f 67 short goal = (4095 * degrees) / 360;
yusuke_kyo 0:10c9fb86002f 68 if (MX28_DEBUG) {
yusuke_kyo 9:0927a7b74806 69 printf("SetGoal to %d[degrees], 0x%x\n",degrees,goal);
yusuke_kyo 0:10c9fb86002f 70 }
yusuke_kyo 0:10c9fb86002f 71
yusuke_kyo 0:10c9fb86002f 72 data[0] = goal & 0xff; // bottom 8 bits
yusuke_kyo 0:10c9fb86002f 73 data[1] = goal >> 8; // top 8 bits
yusuke_kyo 0:10c9fb86002f 74
yusuke_kyo 0:10c9fb86002f 75 // write the packet, return the error code
yusuke_kyo 0:10c9fb86002f 76 int rVal = write(_ID, MX28_REG_GOAL_POSITION, 2, data, reg_flag);
yusuke_kyo 0:10c9fb86002f 77
yusuke_kyo 0:10c9fb86002f 78 if (flags == 1) {
yusuke_kyo 0:10c9fb86002f 79 // block until it comes to a halt
yusuke_kyo 0:10c9fb86002f 80 while (isMoving()) {}
yusuke_kyo 0:10c9fb86002f 81 }
yusuke_kyo 0:10c9fb86002f 82 return(rVal);
yusuke_kyo 0:10c9fb86002f 83 }
yusuke_kyo 0:10c9fb86002f 84
yusuke_kyo 0:10c9fb86002f 85
yusuke_kyo 0:10c9fb86002f 86 // Set continuous rotation speed from -1 to 1
yusuke_kyo 0:10c9fb86002f 87 int MX28::SetCRSpeed(float speed) {
yusuke_kyo 0:10c9fb86002f 88
yusuke_kyo 0:10c9fb86002f 89 // bit 10 = direction, 0 = CCW, 1=CW
yusuke_kyo 0:10c9fb86002f 90 // bits 9-0 = Speed
yusuke_kyo 0:10c9fb86002f 91 char data[2];
yusuke_kyo 0:10c9fb86002f 92
yusuke_kyo 0:10c9fb86002f 93 int goal = (0x3ff * abs(speed));
yusuke_kyo 0:10c9fb86002f 94
yusuke_kyo 6:5ce46b6748fd 95 if (MX28_DEBUG) {
yusuke_kyo 6:5ce46b6748fd 96 printf("SetCRSpeed to 0x%x\n",goal);
yusuke_kyo 6:5ce46b6748fd 97 }
yusuke_kyo 6:5ce46b6748fd 98
yusuke_kyo 0:10c9fb86002f 99 // Set direction CW if we have a negative speed
yusuke_kyo 0:10c9fb86002f 100 if (speed < 0) {
yusuke_kyo 0:10c9fb86002f 101 goal |= (0x1 << 10);
yusuke_kyo 0:10c9fb86002f 102 }
yusuke_kyo 0:10c9fb86002f 103
yusuke_kyo 0:10c9fb86002f 104 data[0] = goal & 0xff; // bottom 8 bits
yusuke_kyo 0:10c9fb86002f 105 data[1] = goal >> 8; // top 8 bits
yusuke_kyo 0:10c9fb86002f 106
yusuke_kyo 0:10c9fb86002f 107 // write the packet, return the error code
yusuke_kyo 0:10c9fb86002f 108 int rVal = write(_ID, 0x20, 2, data);
yusuke_kyo 0:10c9fb86002f 109
yusuke_kyo 0:10c9fb86002f 110 return(rVal);
yusuke_kyo 0:10c9fb86002f 111 }
yusuke_kyo 0:10c9fb86002f 112
yusuke_kyo 0:10c9fb86002f 113
yusuke_kyo 0:10c9fb86002f 114 int MX28::SetCWLimit (int degrees) {
yusuke_kyo 0:10c9fb86002f 115
yusuke_kyo 0:10c9fb86002f 116 char data[2];
yusuke_kyo 0:10c9fb86002f 117
yusuke_kyo 0:10c9fb86002f 118 // 4095 / 360 * degrees
yusuke_kyo 0:10c9fb86002f 119 short limit = (4095 * degrees) / 360;
yusuke_kyo 0:10c9fb86002f 120
yusuke_kyo 0:10c9fb86002f 121 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 122 printf("SetCWLimit to 0x%x\n",limit);
yusuke_kyo 0:10c9fb86002f 123 }
yusuke_kyo 0:10c9fb86002f 124
yusuke_kyo 0:10c9fb86002f 125 data[0] = limit & 0xff; // bottom 8 bits
yusuke_kyo 0:10c9fb86002f 126 data[1] = limit >> 8; // top 8 bits
yusuke_kyo 0:10c9fb86002f 127
yusuke_kyo 0:10c9fb86002f 128 // write the packet, return the error code
yusuke_kyo 0:10c9fb86002f 129 return (write(_ID, MX28_REG_CW_LIMIT, 2, data));
yusuke_kyo 0:10c9fb86002f 130
yusuke_kyo 0:10c9fb86002f 131 }
yusuke_kyo 0:10c9fb86002f 132
yusuke_kyo 1:3ac0919c093f 133
yusuke_kyo 0:10c9fb86002f 134 int MX28::SetCCWLimit (int degrees) {
yusuke_kyo 0:10c9fb86002f 135
yusuke_kyo 0:10c9fb86002f 136 char data[2];
yusuke_kyo 0:10c9fb86002f 137
yusuke_kyo 0:10c9fb86002f 138 // 4095 / 360 * degrees
yusuke_kyo 0:10c9fb86002f 139 short limit = (4095 * degrees) / 360;
yusuke_kyo 0:10c9fb86002f 140
yusuke_kyo 0:10c9fb86002f 141 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 142 printf("SetCCWLimit to 0x%x\n",limit);
yusuke_kyo 0:10c9fb86002f 143 }
yusuke_kyo 0:10c9fb86002f 144
yusuke_kyo 0:10c9fb86002f 145 data[0] = limit & 0xff; // bottom 8 bits
yusuke_kyo 0:10c9fb86002f 146 data[1] = limit >> 8; // top 8 bits
yusuke_kyo 0:10c9fb86002f 147
yusuke_kyo 0:10c9fb86002f 148 // write the packet, return the error code
yusuke_kyo 0:10c9fb86002f 149 return (write(_ID, MX28_REG_CCW_LIMIT, 2, data));
yusuke_kyo 0:10c9fb86002f 150 }
yusuke_kyo 0:10c9fb86002f 151
yusuke_kyo 0:10c9fb86002f 152
yusuke_kyo 0:10c9fb86002f 153 int MX28::SetID (int CurrentID, int NewID) {
yusuke_kyo 0:10c9fb86002f 154
yusuke_kyo 0:10c9fb86002f 155 char data[1];
yusuke_kyo 0:10c9fb86002f 156 data[0] = NewID;
yusuke_kyo 0:10c9fb86002f 157 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 158 printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
yusuke_kyo 0:10c9fb86002f 159 }
yusuke_kyo 0:10c9fb86002f 160 return (write(CurrentID, MX28_REG_ID, 1, data));
yusuke_kyo 0:10c9fb86002f 161
yusuke_kyo 0:10c9fb86002f 162 }
yusuke_kyo 0:10c9fb86002f 163
yusuke_kyo 0:10c9fb86002f 164
yusuke_kyo 0:10c9fb86002f 165 // return 1 is the servo is still in flight
yusuke_kyo 0:10c9fb86002f 166 int MX28::isMoving(void) {
yusuke_kyo 0:10c9fb86002f 167
yusuke_kyo 0:10c9fb86002f 168 char data[1];
yusuke_kyo 0:10c9fb86002f 169 read(_ID,MX28_REG_MOVING,1,data);
yusuke_kyo 0:10c9fb86002f 170 return(data[0]);
yusuke_kyo 0:10c9fb86002f 171 }
yusuke_kyo 0:10c9fb86002f 172
yusuke_kyo 0:10c9fb86002f 173
yusuke_kyo 0:10c9fb86002f 174 void MX28::trigger(void) {
yusuke_kyo 0:10c9fb86002f 175
yusuke_kyo 0:10c9fb86002f 176 char TxBuf[16];
yusuke_kyo 0:10c9fb86002f 177 char sum = 0;
yusuke_kyo 0:10c9fb86002f 178
yusuke_kyo 0:10c9fb86002f 179 if (MX28_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 180 printf("\nTriggered\n");
yusuke_kyo 0:10c9fb86002f 181 }
yusuke_kyo 0:10c9fb86002f 182
yusuke_kyo 0:10c9fb86002f 183 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 184 if (MX28_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 185 printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
yusuke_kyo 0:10c9fb86002f 186 }
yusuke_kyo 0:10c9fb86002f 187
yusuke_kyo 0:10c9fb86002f 188 TxBuf[0] = 0xFF;
yusuke_kyo 0:10c9fb86002f 189 TxBuf[1] = 0xFF;
yusuke_kyo 0:10c9fb86002f 190
yusuke_kyo 0:10c9fb86002f 191 // ID - Broadcast
yusuke_kyo 0:10c9fb86002f 192 TxBuf[2] = 0xFE;
yusuke_kyo 0:10c9fb86002f 193 sum += TxBuf[2];
yusuke_kyo 0:10c9fb86002f 194
yusuke_kyo 0:10c9fb86002f 195 if (MX28_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 196 printf(" ID : %d\n",TxBuf[2]);
yusuke_kyo 0:10c9fb86002f 197 }
yusuke_kyo 0:10c9fb86002f 198
yusuke_kyo 0:10c9fb86002f 199 // Length
yusuke_kyo 0:10c9fb86002f 200 TxBuf[3] = 0x02;
yusuke_kyo 0:10c9fb86002f 201 sum += TxBuf[3];
yusuke_kyo 0:10c9fb86002f 202 if (MX28_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 203 printf(" Length %d\n",TxBuf[3]);
yusuke_kyo 0:10c9fb86002f 204 }
yusuke_kyo 0:10c9fb86002f 205
yusuke_kyo 0:10c9fb86002f 206 // Instruction - ACTION
yusuke_kyo 0:10c9fb86002f 207 TxBuf[4] = 0x04;
yusuke_kyo 0:10c9fb86002f 208 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 209 if (MX28_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 210 printf(" Instruction 0x%X\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 211 }
yusuke_kyo 0:10c9fb86002f 212
yusuke_kyo 0:10c9fb86002f 213 // Checksum
yusuke_kyo 0:10c9fb86002f 214 TxBuf[5] = 0xFF - sum;
yusuke_kyo 0:10c9fb86002f 215 if (MX28_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 216 printf(" Checksum 0x%X\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 217 }
yusuke_kyo 0:10c9fb86002f 218
yusuke_kyo 0:10c9fb86002f 219 // Transmit the packet in one burst with no pausing
yusuke_kyo 0:10c9fb86002f 220 for (int i = 0; i < 6 ; i++) {
yusuke_kyo 0:10c9fb86002f 221 _mx28.putc(TxBuf[i]);
yusuke_kyo 0:10c9fb86002f 222 }
yusuke_kyo 0:10c9fb86002f 223
yusuke_kyo 0:10c9fb86002f 224 // This is a broadcast packet, so there will be no reply
yusuke_kyo 0:10c9fb86002f 225
yusuke_kyo 0:10c9fb86002f 226 return;
yusuke_kyo 0:10c9fb86002f 227 }
yusuke_kyo 0:10c9fb86002f 228
yusuke_kyo 0:10c9fb86002f 229
yusuke_kyo 0:10c9fb86002f 230 float MX28::GetPosition(void) {
yusuke_kyo 0:10c9fb86002f 231
yusuke_kyo 0:10c9fb86002f 232 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 233 printf("\nGetPosition(%d)",_ID);
yusuke_kyo 0:10c9fb86002f 234 }
yusuke_kyo 0:10c9fb86002f 235
yusuke_kyo 0:10c9fb86002f 236 char data[2];
yusuke_kyo 0:10c9fb86002f 237
yusuke_kyo 0:10c9fb86002f 238 int ErrorCode = read(_ID, MX28_REG_POSITION, 2, data);
yusuke_kyo 0:10c9fb86002f 239 short position = data[0] + (data[1] << 8);
yusuke_kyo 6:5ce46b6748fd 240 float angle = (position * 360) / 4095;
yusuke_kyo 0:10c9fb86002f 241
yusuke_kyo 0:10c9fb86002f 242 return (angle);
yusuke_kyo 0:10c9fb86002f 243 }
yusuke_kyo 0:10c9fb86002f 244
yusuke_kyo 0:10c9fb86002f 245
yusuke_kyo 0:10c9fb86002f 246 float MX28::GetTemp (void) {
yusuke_kyo 0:10c9fb86002f 247
yusuke_kyo 0:10c9fb86002f 248 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 249 printf("\nGetTemp(%d)",_ID);
yusuke_kyo 0:10c9fb86002f 250 }
yusuke_kyo 0:10c9fb86002f 251 char data[1];
yusuke_kyo 0:10c9fb86002f 252 int ErrorCode = read(_ID, MX28_REG_TEMP, 1, data);
yusuke_kyo 0:10c9fb86002f 253 float temp = data[0];
yusuke_kyo 0:10c9fb86002f 254 return(temp);
yusuke_kyo 0:10c9fb86002f 255 }
yusuke_kyo 0:10c9fb86002f 256
yusuke_kyo 0:10c9fb86002f 257
yusuke_kyo 0:10c9fb86002f 258 float MX28::GetVolts (void) {
yusuke_kyo 0:10c9fb86002f 259
yusuke_kyo 0:10c9fb86002f 260 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 261 printf("\nGetVolts(%d)",_ID);
yusuke_kyo 0:10c9fb86002f 262 }
yusuke_kyo 0:10c9fb86002f 263 char data[1];
yusuke_kyo 0:10c9fb86002f 264 int ErrorCode = read(_ID, MX28_REG_VOLTS, 1, data);
yusuke_kyo 0:10c9fb86002f 265 float volts = data[0]/10.0;
yusuke_kyo 0:10c9fb86002f 266 return(volts);
yusuke_kyo 0:10c9fb86002f 267 }
yusuke_kyo 0:10c9fb86002f 268
yusuke_kyo 1:3ac0919c093f 269
yusuke_kyo 0:10c9fb86002f 270 float MX28::GetCurrent (void) {
yusuke_kyo 0:10c9fb86002f 271
yusuke_kyo 0:10c9fb86002f 272 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 273 printf("\nGetCurrent(%d)",_ID);
yusuke_kyo 0:10c9fb86002f 274 }
yusuke_kyo 0:10c9fb86002f 275 char data[2];
yusuke_kyo 0:10c9fb86002f 276 int ErrorCode = read(_ID, MX28_REG_CURRENT, 2, data);
yusuke_kyo 9:0927a7b74806 277 // float current = ((data[0]+(data[1] << 8))-0x800)*0.0045;
yusuke_kyo 9:0927a7b74806 278 short nama = (data[0]+(data[1] << 8));
yusuke_kyo 9:0927a7b74806 279 float current = nama*10;
yusuke_kyo 0:10c9fb86002f 280 return(current);
yusuke_kyo 0:10c9fb86002f 281 }
yusuke_kyo 0:10c9fb86002f 282
yusuke_kyo 1:3ac0919c093f 283
yusuke_kyo 1:3ac0919c093f 284 int MX28::TorqueEnable (int mode) {
yusuke_kyo 1:3ac0919c093f 285
yusuke_kyo 1:3ac0919c093f 286 char data[1];
yusuke_kyo 1:3ac0919c093f 287 data[0] = mode;
yusuke_kyo 1:3ac0919c093f 288
yusuke_kyo 1:3ac0919c093f 289 return (write(_ID, MX28_REG_TORQUE_ENABLE, 1, data));
yusuke_kyo 1:3ac0919c093f 290 }
yusuke_kyo 1:3ac0919c093f 291
yusuke_kyo 1:3ac0919c093f 292
yusuke_kyo 1:3ac0919c093f 293 int MX28::SetTorqueLimit (float torque_lim) {
yusuke_kyo 1:3ac0919c093f 294
yusuke_kyo 1:3ac0919c093f 295 short limit = torque_lim * 1023;
yusuke_kyo 1:3ac0919c093f 296 char data[2];
yusuke_kyo 1:3ac0919c093f 297 data[0] = limit & 0xff; // bottom 8 bits
yusuke_kyo 1:3ac0919c093f 298 data[1] = limit >> 8; // top 8 bits
yusuke_kyo 1:3ac0919c093f 299
yusuke_kyo 1:3ac0919c093f 300 return (write(_ID, MX28_REG_TORQUE_LIMIT, 2, data));
yusuke_kyo 1:3ac0919c093f 301 }
yusuke_kyo 1:3ac0919c093f 302
yusuke_kyo 0:10c9fb86002f 303 int MX28::read(int ID, int start, int bytes, char* data) {
yusuke_kyo 0:10c9fb86002f 304
yusuke_kyo 0:10c9fb86002f 305 char PacketLength = 0x4;
yusuke_kyo 0:10c9fb86002f 306 char TxBuf[16];
yusuke_kyo 0:10c9fb86002f 307 char sum = 0;
yusuke_kyo 0:10c9fb86002f 308 char Status[16];
yusuke_kyo 0:10c9fb86002f 309
yusuke_kyo 0:10c9fb86002f 310 Status[4] = 0xFE; // return code
yusuke_kyo 0:10c9fb86002f 311
yusuke_kyo 0:10c9fb86002f 312 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 313 printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
yusuke_kyo 0:10c9fb86002f 314 }
yusuke_kyo 0:10c9fb86002f 315
yusuke_kyo 0:10c9fb86002f 316 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 317 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 318 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
yusuke_kyo 0:10c9fb86002f 319 }
yusuke_kyo 0:10c9fb86002f 320
yusuke_kyo 0:10c9fb86002f 321 TxBuf[0] = 0xff;
yusuke_kyo 0:10c9fb86002f 322 TxBuf[1] = 0xff;
yusuke_kyo 0:10c9fb86002f 323
yusuke_kyo 0:10c9fb86002f 324 // ID
yusuke_kyo 0:10c9fb86002f 325 TxBuf[2] = ID;
yusuke_kyo 0:10c9fb86002f 326 sum += TxBuf[2];
yusuke_kyo 0:10c9fb86002f 327 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 328 printf(" ID : %d\n",TxBuf[2]);
yusuke_kyo 0:10c9fb86002f 329 }
yusuke_kyo 0:10c9fb86002f 330
yusuke_kyo 0:10c9fb86002f 331 // Packet Length
yusuke_kyo 0:10c9fb86002f 332 TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
yusuke_kyo 0:10c9fb86002f 333 sum += TxBuf[3]; // Accululate the packet sum
yusuke_kyo 0:10c9fb86002f 334 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 335 printf(" Length : 0x%x\n",TxBuf[3]);
yusuke_kyo 0:10c9fb86002f 336 }
yusuke_kyo 0:10c9fb86002f 337
yusuke_kyo 0:10c9fb86002f 338 // Instruction - Read
yusuke_kyo 0:10c9fb86002f 339 TxBuf[4] = 0x2;
yusuke_kyo 0:10c9fb86002f 340 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 341 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 342 printf(" Instruction : 0x%x\n",TxBuf[4]);
yusuke_kyo 0:10c9fb86002f 343 }
yusuke_kyo 0:10c9fb86002f 344
yusuke_kyo 0:10c9fb86002f 345 // Start Address
yusuke_kyo 0:10c9fb86002f 346 TxBuf[5] = start;
yusuke_kyo 0:10c9fb86002f 347 sum += TxBuf[5];
yusuke_kyo 0:10c9fb86002f 348 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 349 printf(" Start Address : 0x%x\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 350 }
yusuke_kyo 0:10c9fb86002f 351
yusuke_kyo 0:10c9fb86002f 352 // Bytes to read
yusuke_kyo 0:10c9fb86002f 353 TxBuf[6] = bytes;
yusuke_kyo 0:10c9fb86002f 354 sum += TxBuf[6];
yusuke_kyo 0:10c9fb86002f 355 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 356 printf(" No bytes : 0x%x\n",TxBuf[6]);
yusuke_kyo 0:10c9fb86002f 357 }
yusuke_kyo 0:10c9fb86002f 358
yusuke_kyo 0:10c9fb86002f 359 // Checksum
yusuke_kyo 0:10c9fb86002f 360 TxBuf[7] = 0xFF - sum;
yusuke_kyo 0:10c9fb86002f 361 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 362 printf(" Checksum : 0x%x\n",TxBuf[7]);
yusuke_kyo 0:10c9fb86002f 363 }
yusuke_kyo 0:10c9fb86002f 364
yusuke_kyo 0:10c9fb86002f 365 // Transmit the packet in one burst with no pausing
yusuke_kyo 0:10c9fb86002f 366 for (int i = 0; i<8 ; i++) {
yusuke_kyo 0:10c9fb86002f 367 _mx28.putc(TxBuf[i]);
yusuke_kyo 0:10c9fb86002f 368 }
yusuke_kyo 0:10c9fb86002f 369
yusuke_kyo 0:10c9fb86002f 370 // Wait for the bytes to be transmitted
yusuke_kyo 0:10c9fb86002f 371 wait (0.00002);
yusuke_kyo 0:10c9fb86002f 372
yusuke_kyo 0:10c9fb86002f 373 // Skip if the read was to the broadcast address
yusuke_kyo 0:10c9fb86002f 374 if (_ID != 0xFE) {
yusuke_kyo 0:10c9fb86002f 375
yusuke_kyo 0:10c9fb86002f 376 // Receive the Status packet 6+ number of bytes read
yusuke_kyo 0:10c9fb86002f 377 for (int i=0; i<(6+bytes) ; i++) {
yusuke_kyo 0:10c9fb86002f 378 Status[i] = _mx28.getc();
yusuke_kyo 0:10c9fb86002f 379 }
yusuke_kyo 0:10c9fb86002f 380
yusuke_kyo 0:10c9fb86002f 381 // Copy the data from Status into data for return
yusuke_kyo 0:10c9fb86002f 382 for (int i=0; i < Status[3]-2 ; i++) {
yusuke_kyo 0:10c9fb86002f 383 data[i] = Status[5+i];
yusuke_kyo 0:10c9fb86002f 384 }
yusuke_kyo 0:10c9fb86002f 385
yusuke_kyo 0:10c9fb86002f 386 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 387 printf("\nStatus Packet\n");
yusuke_kyo 0:10c9fb86002f 388 printf(" Header : 0x%x\n",Status[0]);
yusuke_kyo 0:10c9fb86002f 389 printf(" Header : 0x%x\n",Status[1]);
yusuke_kyo 0:10c9fb86002f 390 printf(" ID : 0x%x\n",Status[2]);
yusuke_kyo 0:10c9fb86002f 391 printf(" Length : 0x%x\n",Status[3]);
yusuke_kyo 0:10c9fb86002f 392 printf(" Error Code : 0x%x\n",Status[4]);
yusuke_kyo 0:10c9fb86002f 393
yusuke_kyo 0:10c9fb86002f 394 for (int i=0; i < Status[3]-2 ; i++) {
yusuke_kyo 0:10c9fb86002f 395 printf(" Data : 0x%x\n",Status[5+i]);
yusuke_kyo 0:10c9fb86002f 396 }
yusuke_kyo 0:10c9fb86002f 397
yusuke_kyo 0:10c9fb86002f 398 printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
yusuke_kyo 0:10c9fb86002f 399 }
yusuke_kyo 0:10c9fb86002f 400
yusuke_kyo 0:10c9fb86002f 401 } // if (ID!=0xFE)
yusuke_kyo 9:0927a7b74806 402 if(MX28_ERROR_DEBUG && Status[4]!=0) printf("\nError Code : 0x%x\n", Status[4]);
yusuke_kyo 0:10c9fb86002f 403
yusuke_kyo 0:10c9fb86002f 404 return(Status[4]);
yusuke_kyo 0:10c9fb86002f 405 }
yusuke_kyo 0:10c9fb86002f 406
yusuke_kyo 0:10c9fb86002f 407
yusuke_kyo 0:10c9fb86002f 408 int MX28:: write(int ID, int start, int bytes, char* data, int flag) {
yusuke_kyo 0:10c9fb86002f 409 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
yusuke_kyo 0:10c9fb86002f 410
yusuke_kyo 0:10c9fb86002f 411 char TxBuf[16];
yusuke_kyo 0:10c9fb86002f 412 char sum = 0;
yusuke_kyo 0:10c9fb86002f 413 char Status[6];
yusuke_kyo 0:10c9fb86002f 414
yusuke_kyo 0:10c9fb86002f 415 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 416 printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
yusuke_kyo 0:10c9fb86002f 417 }
yusuke_kyo 0:10c9fb86002f 418
yusuke_kyo 0:10c9fb86002f 419 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 420 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 421 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
yusuke_kyo 0:10c9fb86002f 422 }
yusuke_kyo 0:10c9fb86002f 423
yusuke_kyo 0:10c9fb86002f 424 TxBuf[0] = 0xff;
yusuke_kyo 0:10c9fb86002f 425 TxBuf[1] = 0xff;
yusuke_kyo 0:10c9fb86002f 426
yusuke_kyo 0:10c9fb86002f 427 // ID
yusuke_kyo 0:10c9fb86002f 428 TxBuf[2] = ID;
yusuke_kyo 0:10c9fb86002f 429 sum += TxBuf[2];
yusuke_kyo 0:10c9fb86002f 430
yusuke_kyo 0:10c9fb86002f 431 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 432 printf(" ID : %d\n",TxBuf[2]);
yusuke_kyo 0:10c9fb86002f 433 }
yusuke_kyo 0:10c9fb86002f 434
yusuke_kyo 0:10c9fb86002f 435 // packet Length
yusuke_kyo 0:10c9fb86002f 436 TxBuf[3] = 3+bytes;
yusuke_kyo 0:10c9fb86002f 437 sum += TxBuf[3];
yusuke_kyo 0:10c9fb86002f 438
yusuke_kyo 0:10c9fb86002f 439 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 440 printf(" Length : %d\n",TxBuf[3]);
yusuke_kyo 0:10c9fb86002f 441 }
yusuke_kyo 0:10c9fb86002f 442
yusuke_kyo 0:10c9fb86002f 443 // Instruction
yusuke_kyo 0:10c9fb86002f 444 if (flag == 1) {
yusuke_kyo 0:10c9fb86002f 445 TxBuf[4]=0x04;
yusuke_kyo 0:10c9fb86002f 446 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 447 } else {
yusuke_kyo 0:10c9fb86002f 448 TxBuf[4]=0x03;
yusuke_kyo 0:10c9fb86002f 449 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 450 }
yusuke_kyo 0:10c9fb86002f 451
yusuke_kyo 0:10c9fb86002f 452 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 453 printf(" Instruction : 0x%x\n",TxBuf[4]);
yusuke_kyo 0:10c9fb86002f 454 }
yusuke_kyo 0:10c9fb86002f 455
yusuke_kyo 0:10c9fb86002f 456 // Start Address
yusuke_kyo 0:10c9fb86002f 457 TxBuf[5] = start;
yusuke_kyo 0:10c9fb86002f 458 sum += TxBuf[5];
yusuke_kyo 0:10c9fb86002f 459 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 460 printf(" Start : 0x%x\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 461 }
yusuke_kyo 0:10c9fb86002f 462
yusuke_kyo 0:10c9fb86002f 463 // data
yusuke_kyo 0:10c9fb86002f 464 for (char i=0; i<bytes ; i++) {
yusuke_kyo 0:10c9fb86002f 465 TxBuf[6+i] = data[i];
yusuke_kyo 0:10c9fb86002f 466 sum += TxBuf[6+i];
yusuke_kyo 0:10c9fb86002f 467 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 468 printf(" Data : 0x%x\n",TxBuf[6+i]);
yusuke_kyo 0:10c9fb86002f 469 }
yusuke_kyo 0:10c9fb86002f 470 }
yusuke_kyo 0:10c9fb86002f 471
yusuke_kyo 0:10c9fb86002f 472 // checksum
yusuke_kyo 0:10c9fb86002f 473 TxBuf[6+bytes] = 0xFF - sum;
yusuke_kyo 0:10c9fb86002f 474 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 475 printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
yusuke_kyo 0:10c9fb86002f 476 }
yusuke_kyo 0:10c9fb86002f 477
yusuke_kyo 0:10c9fb86002f 478 // Transmit the packet in one burst with no pausing
yusuke_kyo 0:10c9fb86002f 479 for (int i = 0; i < (7 + bytes) ; i++) {
yusuke_kyo 0:10c9fb86002f 480 _mx28.putc(TxBuf[i]);
yusuke_kyo 0:10c9fb86002f 481 }
yusuke_kyo 0:10c9fb86002f 482
yusuke_kyo 0:10c9fb86002f 483 // Wait for data to transmit
yusuke_kyo 0:10c9fb86002f 484 wait (0.00002);
yusuke_kyo 0:10c9fb86002f 485
yusuke_kyo 0:10c9fb86002f 486 // make sure we have a valid return
yusuke_kyo 0:10c9fb86002f 487 Status[4]=0x00;
yusuke_kyo 0:10c9fb86002f 488
yusuke_kyo 0:10c9fb86002f 489 // we'll only get a reply if it was not broadcast
yusuke_kyo 0:10c9fb86002f 490 if (_ID!=0xFE) {
yusuke_kyo 0:10c9fb86002f 491
yusuke_kyo 0:10c9fb86002f 492 // response is always 6 bytes
yusuke_kyo 0:10c9fb86002f 493 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
yusuke_kyo 0:10c9fb86002f 494 for (int i=0; i < 6 ; i++) {
yusuke_kyo 0:10c9fb86002f 495 Status[i] = _mx28.getc();
yusuke_kyo 0:10c9fb86002f 496 }
yusuke_kyo 0:10c9fb86002f 497
yusuke_kyo 0:10c9fb86002f 498 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 499 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 500 printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
yusuke_kyo 0:10c9fb86002f 501 printf(" ID : %d\n",Status[2]);
yusuke_kyo 0:10c9fb86002f 502 printf(" Length : %d\n",Status[3]);
yusuke_kyo 0:10c9fb86002f 503 printf(" Error : 0x%x\n",Status[4]);
yusuke_kyo 0:10c9fb86002f 504 printf(" Checksum : 0x%x\n",Status[5]);
yusuke_kyo 0:10c9fb86002f 505 }
yusuke_kyo 0:10c9fb86002f 506
yusuke_kyo 0:10c9fb86002f 507
yusuke_kyo 0:10c9fb86002f 508 }
yusuke_kyo 9:0927a7b74806 509 if(MX28_ERROR_DEBUG && Status[4]!=0) printf("\nError Code : 0x%x\n", Status[4]);
yusuke_kyo 0:10c9fb86002f 510
yusuke_kyo 0:10c9fb86002f 511 return(Status[4]); // return error code
yusuke_kyo 0:10c9fb86002f 512 }